US20170260704A1 - Cleaning device - Google Patents

Cleaning device Download PDF

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Publication number
US20170260704A1
US20170260704A1 US15/511,208 US201515511208A US2017260704A1 US 20170260704 A1 US20170260704 A1 US 20170260704A1 US 201515511208 A US201515511208 A US 201515511208A US 2017260704 A1 US2017260704 A1 US 2017260704A1
Authority
US
United States
Prior art keywords
cleaning device
artificial grass
brush
self
sieve
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US15/511,208
Other languages
English (en)
Inventor
Nicolas De Geyter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Astrobot
Original Assignee
Astrobot
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Astrobot filed Critical Astrobot
Assigned to ASTROBOT reassignment ASTROBOT NUNC PRO TUNC ASSIGNMENT (SEE DOCUMENT FOR DETAILS). Assignors: DE GEYTER, Nicolas
Publication of US20170260704A1 publication Critical patent/US20170260704A1/en
Abandoned legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
    • E01H1/04—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt taking- up the sweepings, e.g. for collecting, for loading
    • E01H1/045—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt taking- up the sweepings, e.g. for collecting, for loading the loading means being a rotating brush with horizontal axis
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B13/00—Brushes with driven brush bodies or carriers
    • A46B13/001—Cylindrical or annular brush bodies
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/14—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum cleaning by blowing-off, also combined with suction cleaning
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/14—Removing by magnetic effect
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B2200/00—Brushes characterized by their functions, uses or applications
    • A46B2200/30—Brushes for cleaning or polishing
    • A46B2200/3066—Brush specifically designed for use with street cleaning machinery
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C13/00—Pavings or foundations specially adapted for playgrounds or sports grounds; Drainage, irrigation or heating of sports grounds
    • E01C13/08—Surfaces simulating grass ; Grass-grown sports grounds

Definitions

  • the invention relates to a cleaning device comprising a chassis that can be moved over a ground surface, said cleaning device comprising a space in which a roller-shaped brush provided with bristles is arranged in a rotatable manner about an axle in such a way that said ground surface can be brushed therewith, said space being connected with an outlet channel for the removal of material brushed away by the bristles.
  • Such a cleaning device is generally known and is used, among other things, for cleaning roads, squares, sports fields, factory halls, public spaces etc. . . These cleaning devices are more particularly used for cleaning artificial grass surface and to collect litter. Wheels are preferably mounted on the chassis in order to thereby be able to drive the cleaning device over the ground. With its bristles the brush is in contact with the ground so that the latter can be brushed during a passage of the cleaning device. The brush thus brushes the ground and the collected material is removed via the outlet channel.
  • a disadvantage of the known cleaning devices is that rubbish accumulates between the bristles when the brush rolls over the ground. This rubbish then affects the operation of the bristles as a result of which cleaning takes place less efficiently.
  • the aim of the invention is to provide a cleaning device wherein the brush does not become dirty so quickly and therefore operates more efficiently.
  • the cleaning device in accordance with the invention is characterised in that arranged in the brush, coaxially with the axle, is an air channel which is provided with a number of openings that are directed towards the outlet channel and open between the bristles.
  • an air channel which is provided with a number of openings that are directed towards the outlet channel and open between the bristles.
  • a first preferred embodiment in accordance with the invention is characterised in that the series of openings extends within an angle of 120°. Through this the air is concentrated within this angle and it is ensured that the air is blown well into the outlet channel.
  • a second preferred form of embodiment of a cleaning device in accordance with the invention is characterised in that arranged in the outlet channel is a vibrating sieve, said sieve being provided with an outlet which is directed towards the underside of the chassis. Through this material can be selectively returned.
  • the cleaning device is provided with a navigation system in order to guide it over the ground along a predetermined path. Through this the cleaning device can be guided in accordance with a predetermined route over the ground.
  • the aim of the invention is also to provide a cleaning device wherein the above-described disadvantages are countered when used on artificial grass.
  • a self-propelling cleaning device for the cleaning of an artificial grass surface, comprising a chassis, moving means for moving the chassis over the artificial grass surface, a rechargeable battery for storing energy and configured in such a way that the rechargeable battery provides the moving means with energy, a roller-shaped brush provided with bristles positioned in a space of the cleaning device, wherein the brush is mounted in a rotatable manner about an axle and arranged so that it can brush the artificial grass surface, an outlet channel in the continuation of the space that opens into a collection bin for collecting the rubbish that has been brushed away, and a sieve arranged on the underside of the outlet channel provided with an inlet surface and an outlet surface, wherein the sieve is positioned so that during use the outlet surface is positioned in relation to the artificial grass surface so that brushed away material that passes through the sieve falls onto the artificial grass surface.
  • the self-propelling cleaning device has the advantage that it can be compactly designed, as a result of which it is less voluminous and expensive in comparison with known cleaning devices for artificial grass surfaces.
  • the specific structure of this cleaning device also ensures that very good results are obtained on an artificial grass surface.
  • the self-propelling cleaning device also comprises a decompacter unit for the decompacting of the artificial grass surface, wherein the decompacter unit is attached in such a way that during use the artificial grass surface is decompacted after brushing.
  • a decompacter unit ensures a better end result in that it returns the individual artificial grass blades back into their correct position and the in-fill of the artificial grass in ventilated.
  • the self-propelling cleaning device also comprises a magnetic strip for removing metal objects on the artificial grass surface.
  • the self-propelling cleaning device has at least three wheels and the brush and the sieve are attached between a first axle of a first wheel and a second axle of a second wheel of the at least three wheels.
  • the decompacter unit is attached in such a way that during use the decompacter unit decompacts the artificial grass surface after it has been brushed, material added via the sieve, and has been driven over with the wheels.
  • This structure has the advantage that the imperfections caused by the brushing, the return of material and by the wheels are eliminated as the last step.
  • the brush is attached in the space by means of a hydraulic suspension mechanism.
  • the self-propelling cleaning device comprises control means for controlling the moving means.
  • control means comprises a processor and a memory, wherein the memory has a software application that is executable in the processor, and wherein the software application has a program for calculating the trajectory of the self-propelling cleaning device.
  • FIG. 1 shows a schematic view of a first example of embodiment of a cleaning device in accordance with the present invention.
  • FIG. 2 shows a schematic view of a second example of embodiment of a cleaning device in accordance with the present invention.
  • FIG. 3 shows a schematic view of a third example of embodiment of a cleaning device in accordance with the present invention.
  • the cleaning device ( 1 ) comprises a chassis ( 2 ) on which wheels ( 3 ) are attached in order to allow the cleaning device to travel over a ground surface.
  • a chassis ( 2 ) On the chassis a body is provided in which there is a space ( 4 ).
  • the space is at the bottom of the chassis to that it can be accessed from below.
  • Attached in this space is a roller-shaped brush ( 6 ) which is provided with bristles ( 5 ) and is mounted in a rotatable manner about an axle ( 7 ).
  • the brush is attached in such a way that said surface can be brushed with it.
  • the brush is rotabably driven either by a motor or by friction on the ground surface when the cleaning device moves over it.
  • the space ( 4 ) is connected with an outlet channel ( 8 ) for removing the material brushed away by the bristles.
  • the outlet channel arranged in the continuation of the space and preferably extends in the longitudinal direction of the chassis.
  • the outlet channel opens into a collection bin ( 9 ) in which the material brushed away by the brush is collected.
  • a vibrating sieve ( 10 ), said sieve being provided with an outlet which is directed towards the underside of the chassis.
  • material can be selectively returned. This is the case, for example, when artificial grass is being brushed and structural elements of the artificial grass are also brushed away. Because the sieve vibrates, through shaking and suitable dimensioning of the mesh of the sieve, it is ensured that the rubbish does not pass through the sieve whereas the structural elements do.
  • An air channel ( 11 ) is arranged in the brush ( 6 ) and co-axially with the axle ( 7 ).
  • the air channel which is provided with a number of openings ( 12 ) that are directed towards the outlet channel ( 8 ) and open between the bristles.
  • the air channel is connected to a fan ( 13 ) which produces air.
  • the series of openings preferably extends within an angle of 120°.
  • the produced air is supplied to the air channel and is distributed co-axially along the axle of the brush.
  • the air emerges in the opening ( 12 ) and thus into the bristles in order to pass through them.
  • the air blows away material remaining in the bristles.
  • the openings are directed towards the outlet channel ( 8 ) the air that has passed through the bristles eventually ends up in the outlet channel. Once the air has blown material out of the bristles, the material will finally end up in the outlet channel and will be removed there. Through blowing air between the bristles, the brush remains clean and brushing is more efficient.
  • the cleaning device is provided with a navigation system ( 15 ) in order to guide it over the ground in accordance with a predetermined path and preferably without an operator.
  • the navigation system can be constituted by a known GPS system, or by means of a local system that works together with detectors applied in the ground.
  • FIG. 2 shows a self-propelling cleaning device 1 for the cleaning an artificial grass surface.
  • the cleaning device has a chassis 2 .
  • At least three wheels 3 are attached to the chassis in order to move the chassis 2 over the artificial grass surface.
  • the wheels 3 can be driven by a motor 24 that obtains energy from a rechargeable battery 22 .
  • the rechargeable battery 22 can be charged or replaced.
  • the rechargeable battery 22 can be charged by means of an integrated solar panel.
  • the solar panel is attached so that the solar panel can absorb solar energy while the cleaning device 1 moves over the artificial grass surface.
  • On the chassis a body is provided in which there is a space 4 .
  • the chassis 2 and the body can also form one entity.
  • the space 4 is arranged on the bottom of the chassis 2 so that it is open to the artificial grass surface when the cleaning device 1 moves over the artificial grass surface.
  • Attached in this space 4 is a roller-shaped brush 6 which is provided with bristles 5 and is mounted in a rotatable manner about an axle 7 .
  • the brush 6 is attached in such a way that the artificial grass surface can be brushed with it.
  • the brush 6 can be driven by a motor or the brush 6 can be rotated through friction with the artificial grass surface when the cleaning device 1 moves over the artificial grass surface.
  • an outlet channel 8 which opens into a collection bin 9 . The rubbish that is brushed away by the brush is trapped in the collected bin 9 .
  • a sieve 10 is arranged on the underside of the outlet channel 8 .
  • inlet surface of the sieve is directed towards the space 4 and the outlet surface of the sieve 10 is directed towards the opposite side so that the outlet surface is directed towards the artificial grass surface when the cleaning device 1 moves over the artificial grass surface.
  • structural material from the artificial grass surface that is also brushed away by the brush 6 during brushing falls back onto the artificial grass surface through the openings in the sieve 10 .
  • a decompacter unit 14 may be arranged at the back of the cleaning device.
  • the decompacter unit ensures that the artificial grass is first brushed by the brush 6 , then sprinkled with returned structural material and finally driven over by the wheels 2 , and decompacted again so that the artificial grass is returned into the optimum position once more.
  • the cleaning device 1 can also be provided with a magnetic strip as shown in the form of embodiment in FIG. 1 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • Cleaning In General (AREA)
  • Road Repair (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
US15/511,208 2014-09-15 2015-09-15 Cleaning device Abandoned US20170260704A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
BEBE2014/0692 2014-09-15
BE2014/0692A BE1022354B1 (nl) 2014-09-15 2014-09-15 Schoonmaakapparaat
PCT/IB2015/001628 WO2016042383A2 (en) 2014-09-15 2015-09-15 Cleaning device

Publications (1)

Publication Number Publication Date
US20170260704A1 true US20170260704A1 (en) 2017-09-14

Family

ID=52573553

Family Applications (1)

Application Number Title Priority Date Filing Date
US15/511,208 Abandoned US20170260704A1 (en) 2014-09-15 2015-09-15 Cleaning device

Country Status (9)

Country Link
US (1) US20170260704A1 (nl)
EP (1) EP3194660B1 (nl)
CN (1) CN107109810A (nl)
AU (1) AU2015316563A1 (nl)
BE (1) BE1022354B1 (nl)
CA (1) CA2961301A1 (nl)
DK (1) DK3194660T3 (nl)
ES (1) ES2712425T3 (nl)
WO (1) WO2016042383A2 (nl)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108725354A (zh) * 2018-06-05 2018-11-02 北京智行者科技有限公司 车辆遥控方法
EP3480365A1 (en) * 2017-11-02 2019-05-08 Polytan GmbH Artificial turf cleaner
FR3089313A1 (fr) * 2018-12-04 2020-06-05 Mabis robot de cartographie d’un terrain de sport synthetique
US10889946B1 (en) * 2020-02-18 2021-01-12 Robert Mast System and method for synthetic turf infill removal device
US20210016329A1 (en) * 2019-07-19 2021-01-21 Rps Corporation Floor Maintenance and Tugging Machine
CN112575689A (zh) * 2020-12-11 2021-03-30 李金甫 一种桥梁施工桥面渣滓清理剔除设备
CN113322759A (zh) * 2021-06-18 2021-08-31 驻马店市华中公路设计有限公司 一种填挖交界路基路段病害修复施工工艺
US11191858B2 (en) * 2018-10-19 2021-12-07 Allied Bioscience, Inc. Systems and methods for treating artificial turf
CN113749568A (zh) * 2021-10-09 2021-12-07 江西太空机器人科技有限公司 一种基于5g通信的可降尘清扫机器人
US20220074151A1 (en) * 2020-09-10 2022-03-10 Jay Hirshberg Object-gathering apparatus
US11793373B2 (en) 2019-08-08 2023-10-24 Sharkninja Operating Llc Robotic cleaner with air jet assembly
WO2024090595A1 (ko) * 2022-10-24 2024-05-02 주식회사 스마츠 스포츠 그라운드 관리용 무인 전기카트

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES1180184Y (es) 2017-02-23 2017-06-26 Com Carma S A Dispositivo para limpiar césped artificial
ES1180183Y (es) 2017-02-23 2017-06-26 Com Carma S A Dispositivo para peinar y acondicionar césped artificial
EP3479667A1 (en) 2017-11-02 2019-05-08 Melos GmbH Artificial turf maintenance robot
CN110924338A (zh) * 2019-10-31 2020-03-27 杭州宝力体育设施工程有限公司 一种具有垃圾清理功能的梳草机
IT202200009806A1 (it) * 2022-05-12 2023-11-12 Eurosystems S P A Macchina per la decompattazione di prati in erba sintetica

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Publication number Priority date Publication date Assignee Title
SU1657568A1 (ru) * 1989-07-03 1991-06-23 Государственный научно-исследовательский институт гражданской авиации Рабочий орган снегоочистительной машины
KR20040023286A (ko) * 2002-09-11 2004-03-18 엘지전자 주식회사 진공청소기용 에지테이터
US20050044656A1 (en) * 2003-08-27 2005-03-03 Fieldturf, Inc. Apparatus and method for treating synthetic grass turf
NL1027347C2 (nl) * 2004-10-26 2006-04-27 Redexim Handel En Expl Mij B V Reinigingsinrichting zoals voor kunstgras.
NL1032885C2 (nl) * 2006-11-16 2008-05-19 Redexim Handel En Expl Mij Bv Kunstgrasreiniging.
CN102720153B (zh) * 2012-06-18 2014-04-30 林智勇 公路杂物清理装置
CN103850210B (zh) * 2014-03-19 2015-07-22 张家港市德隆伟业机械有限公司 人造草坪清理机

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3480365A1 (en) * 2017-11-02 2019-05-08 Polytan GmbH Artificial turf cleaner
WO2019086596A1 (en) * 2017-11-02 2019-05-09 Polytan Gmbh Artificial turf cleaner
CN108725354A (zh) * 2018-06-05 2018-11-02 北京智行者科技有限公司 车辆遥控方法
US11191858B2 (en) * 2018-10-19 2021-12-07 Allied Bioscience, Inc. Systems and methods for treating artificial turf
US11305426B2 (en) * 2018-12-04 2022-04-19 Mabis Robot for mapping a synthetic sports ground
EP3663884A1 (fr) 2018-12-04 2020-06-10 Mabis Robot de cartographie d'un terrain de sport synthétique
FR3089313A1 (fr) * 2018-12-04 2020-06-05 Mabis robot de cartographie d’un terrain de sport synthetique
US20210016329A1 (en) * 2019-07-19 2021-01-21 Rps Corporation Floor Maintenance and Tugging Machine
US11793373B2 (en) 2019-08-08 2023-10-24 Sharkninja Operating Llc Robotic cleaner with air jet assembly
US10889946B1 (en) * 2020-02-18 2021-01-12 Robert Mast System and method for synthetic turf infill removal device
US20220074151A1 (en) * 2020-09-10 2022-03-10 Jay Hirshberg Object-gathering apparatus
US11965297B2 (en) * 2020-09-10 2024-04-23 Jay Hirshberg Object-gathering apparatus
CN112575689A (zh) * 2020-12-11 2021-03-30 李金甫 一种桥梁施工桥面渣滓清理剔除设备
CN113322759A (zh) * 2021-06-18 2021-08-31 驻马店市华中公路设计有限公司 一种填挖交界路基路段病害修复施工工艺
CN113749568A (zh) * 2021-10-09 2021-12-07 江西太空机器人科技有限公司 一种基于5g通信的可降尘清扫机器人
WO2024090595A1 (ko) * 2022-10-24 2024-05-02 주식회사 스마츠 스포츠 그라운드 관리용 무인 전기카트

Also Published As

Publication number Publication date
ES2712425T3 (es) 2019-05-13
WO2016042383A2 (en) 2016-03-24
CN107109810A (zh) 2017-08-29
BE1022354B1 (nl) 2016-03-16
EP3194660A2 (en) 2017-07-26
DK3194660T3 (en) 2019-02-25
EP3194660B1 (en) 2018-10-31
CA2961301A1 (en) 2016-03-24
AU2015316563A1 (en) 2017-04-27
WO2016042383A3 (en) 2016-05-12

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